JP2003044987A - Obstacle removing work support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a superior obstacle removing work support device which can computes a two-dimensional obstacle removing work completed area as work support information from the removing work width of an obstacle by a working vehicle and work progress route information measured with high precision. SOLUTION: A position measuring means 102 measures the current position of the working vehicle and measured position information on the working vehicle is recorded as work track information in a work track recording means 104; and a work completed area computing means 106 computes the two-dimensional work completed area from the operation track recorded in the work track recording means 104 and the work width of the removal of the obstacle by the working vehicle, thereby providing operation information of the obstacle removing work as two-dimensional work completed area information.

Description

Detailed Description of the Invention

(0001)

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an obstacle removing work support device for recording work operation information in an obstacle removing work on a road surface and providing it as useful information for the obstacle removing work. (0002)

2. Description of the Related Art Conventionally, in the case where a snowfall caused by snowfall is taken as an example of a removable obstacle accumulated on a traffic road surface, a snow removal vehicle such as a snow removal grader vehicle, a rotary snow removal vehicle, or a snow removal dozer is used as a snow removal work vehicle on a wide area road. Heavy equipment vehicles are used. As a method of managing the snow removal work status by these conventional snow removal vehicles, GPS (Global Posi) is used.
The current position of the snowplow vehicle is measured using a computer system to display the vehicle position, operating time, destination and traveling direction on a map by the computer, and the management information of the snowplow vehicle is stored in the computer. Proposed. As such a conventional snow removal work management means, as shown in FIG. 20, a snow removal work management system using a car navigation device is known. In FIG. 20, the conventional snow removal work management system described above includes a work vehicle 10000 side that removes an obstacle, a work command unit 10001 side that issues a work command, and a GP that transmits a GPS signal.
S satellite 10002. (0004) Further, the work vehicle 10000 includes a work control means 10003 for controlling the work vehicle as a whole, a current position positioning means 10004 for receiving a GPS signal to measure the current position of the work vehicle, a work command section 10001 and a radio. Wireless communication means 10005 on the work vehicle side for communicating information
And a work support information notifying unit 10006 for notifying the work operator of the contents instructed by the work commanding unit 10001 by an image or a voice to provide work support, and a work data recording unit 10012 for recording work data. (0005) Furthermore, the work command unit 10001 is a work vehicle-side wireless communication means 1 mounted on the work vehicle 10000.
Wireless communication means 10008 for wirelessly communicating with 0005, work support information generation means 10009 for generating work support information such as work location information and work plan for the work vehicle 10000, and transmission from the work vehicle 10000. Work vehicle management means 1001 for managing the created work position information
0 and work management information recording means 1 for storing work position information
And 0011. (0006) Next, the operation of the conventional snow work management system will be described with reference to FIG. First, the working vehicle 100
On the 00 side, the GP transmitted from the GPS satellite 10002
The position measurement means 10004 obtains the current work position information from the S signal. The acquired work position information is temporarily recorded in the work operation information recording unit 10012, and is transmitted to the work command unit 10001 as locus information of the work operation route using the wireless communication unit 10005. (0007) Next, the work command section 10001 side receives the work operation information transmitted from the work vehicle 10000 side by the wireless communication means 10008. The work operation information received is managed by the work vehicle management means 10010 such as the current position of the work vehicle 10000, the operation trajectory, the operation time, the destination, and the traveling direction. The management information is recorded and stored in the work management information recording means 10011 as a work history. (0008) Further, the work support information generation means 10009 generates work support information such as a destination and a work route for the work vehicle 10000. The generated command information is transmitted to the work vehicle 10000 via the wireless communication unit 10008, and the work vehicle 10000 notifies the work operator of the acquired work support information by the work support information notification unit 10006. (0009) Therefore, as a method of recording the locus of the work operation point, it is general to record and save the position information measured at a constant mileage or at a constant time in a time series. The work vehicle is informed of the traveling locus by reading out and displaying the traveling locus on the navigation screen. A display example of such trajectory information is shown in FIG.
As shown in. The locus information is stored as time-series position data in the order in which the position measurement is performed, and the running locus is represented by connecting each piece of point information in order. It should be noted that such a driving trajectory recording method is a well-known technique as a function of a general car navigation device. (0010)

However, the locus information of the work operation route recorded by the above-mentioned conventional snow removing work management system records a one-dimensional point, and the record of the work locus is the above-mentioned point. Are used only as straight line information connecting the two, and are not actually used as two-dimensional area information in which obstacles have been removed. Therefore, when the work target area is not a continuous straight path such as a road but a flat area such as an outdoor parking lot, one-dimensional work trajectory recording is used to support the work. When used as information, it is not possible to determine how much of the obstacle on the plane area to be worked is removed. As described above, the work trajectory record recorded by the conventional device is not useful work support information when the work target is a two-dimensional plane. (0011) On the other hand, in recent years, the decommissioning of error information addition to GPS signals accompanying the diversion of military GPS satellites to the private sector, which has been conventionally provided with error information for reasons of national security, and DGPS (Differential Global)
Positioning error correction information by Positioning System) and improvement of autonomous positioning performance such as a gyro sensor that detects acceleration and inclination angle and a vehicle speed pulse detection sensor enable positioning with an error accuracy of less than 1 meter. There is a background that the accuracy of has dramatically improved, and it has become possible to precisely position the work point. (0012) The present invention has been made to solve the above-mentioned conventional problems, and a two-dimensional obstacle is obtained based on a work width for removing an obstacle by a work vehicle and work progress route information that is positioned with high accuracy. (EN) An excellent obstacle removal work support device capable of calculating a removal work completed area as work support information. (0013)

An obstacle removing work support apparatus according to the present invention is a work for measuring a current position of a work vehicle and a work for recording the measured position information of the work vehicle as work trajectory information. It is provided with a trajectory recording means and a worked area calculating means for calculating a two-dimensional worked area from the recorded work trajectory and the work width for removing the obstacle of the work vehicle. With this configuration, it is possible to provide the operation information of the obstacle removal work to the work operator as the two-dimensional completed area information. (0014) The obstacle removal work support apparatus according to the present invention stores map information from a map information storage unit that records map information of a route or a work area in which an obstacle removal work is performed by the work vehicle, and map information from the map information storage unit. A map information reading means for reading, a worked area drawing means for drawing a worked area on the topographic map from the read map information and the work trajectory information recorded previously, and a drawn area drawn by the worked area drawing means. And a display means for notifying the working area. With this configuration,
By displaying the work locus on the map of the work target area, it is possible to visually notify the work operator of the two-dimensional work progress situation. An obstacle removal work support device according to the present invention is a work unnecessary area information providing unit that provides position information of a point where obstacle removal work is not necessary, and an obstacle provided from the work unnecessary area information providing unit. Configuration in which a work unnecessary area information acquisition unit that acquires position information of a point that does not require removal work and a work unnecessary area display unit that notifies the position information acquired from the work unnecessary area information acquisition unit as a work unnecessary place have. With this configuration,
In an area where the obstacle removing work device is already installed on or near the road surface, it can be determined that the obstacle removing work is unnecessary, and wasteful work can be avoided. (0016) In the obstacle removal work support device according to the present invention, in a region where the work region is limited, the work locus recorded in the work locus recording means is set as a worked region, and a remaining unworked region is left from the worked region. And a non-working area information notifying unit for notifying the calculated non-working area information. With this configuration, the work amount remaining in the work target area can be notified to the work operator in real time. (0017) In the obstacle removal work support device according to the present invention, work guidance route calculation means for calculating a work course that goes around an unworked area recorded in the work trajectory recording means, and the work route along the calculated work path are provided. And a work route guiding means for guiding the work vehicle.
With this configuration, the work route can be guided in consideration of the work width. (0018) The obstacle removal work support device according to the present invention includes a work movement speed information acquisition unit that acquires work movement speed information of the work vehicle, a work scheduled region, and a work completed region calculated from the work completed region calculation unit. From the unworked area calculation means for calculating the unworked area from the unworked area information calculated from the unworked area calculation means and the work movement speed information of the work vehicle acquired by the speed information acquisition means The work end time prediction means for predicting the work end time and the work end time external notification means for externally transmitting the predicted work end time are provided. With this configuration, it is possible to notify the external user who uses the work target area of the scheduled work end time predicted from the work record on the work vehicle side. The obstacle removal work support device according to the present invention is a partition area information storage unit that stores a plurality of partition area information for a vehicle that originally uses the work target area to stop, and a work completion determination for each of the partition areas. It is possible to use each time a zone is provided and the zone area work end determination means for determining that the removal work of the obstacle is completed for each zone area and the corresponding zone is determined to be the work end by the zone area work end determination means. It is configured to include an already-worked section usage information notification unit that notifies the outside of the usage information of the section. With this configuration, it is possible to notify the user whether or not each area of use for performing obstacle removal work can be notified, so the user waits until all the work in all areas of the outdoor parking lot is completed. It is not necessary, and it is possible for the user to reduce unnecessary waiting time, and for the parking lot operator, it is possible to manage the parking lot with a high profit ratio. (0020) The obstacle removal work support device according to the present invention is a meteorological information acquisition unit that acquires meteorological information in the vicinity of a work area from an information providing organization, and an obstacle that reoccurs due to snowfall or rain at a worked point from the acquired meteorological information. Obstacle generation amount predicting means for estimating the amount of generated objects, rework determining means for determining whether the estimated snow amount exceeds a level requiring rework, and the rework determining means regenerated When it is determined that the obstacle needs to be removed again, work record updating means for updating the worked trajectory information recorded in the work trajectory recording means to the "unworked state", and the need for reworking. And a re-work notifying means for giving a notification. With this configuration, when the work area is large and the obstacles have already been removed, and the obstacles occur again due to stormy weather, etc., the recorded contents can be updated, and the removal work is required again. It becomes possible to judge that it has become. (0021)

DETAILED DESCRIPTION OF THE INVENTION The present invention will now be described with reference to the accompanying drawings.
The first to eighth embodiments will be described in detail. (First Embodiment) First, referring to FIG.
Structure of Obstacle Removal Work Support Device in First Embodiment
Explain the success. Obstacle in the present embodiment shown in FIG.
The removal work support device is the entire obstacle removal work support device 100.
Central control means 101 for controlling the body and performing various arithmetic processes
And (the central control means 101 is a microcomputer
And vehicle computers composed of DSP), G
The PS signal is received as position information, and further DGPS and
Accurately correct the current position by correcting errors using a gyro sensor
Position measuring means 102 for measuring the
Can be determined from the operating status of the grader and rotary.
Work execution determining means 103 and position measuring means 102
Work locus to record the current position data measured in
The recording means 104 and the work trajectory recording means 1
As 04, magnetism such as hard disk and magnetic tape
Storage devices and large-capacity optical storage media such as DVDs
There are also semiconductor memories such as IC cards. Furthermore
In addition, the obstacle removal work support device 100 can prevent the obstacle of the work vehicle.
The removal width input means 105 for inputting the object removal width
Work locus with obstacle removal width and recorded work locus record
The two-dimensional obstacle removal area on the route
The removal area calculation means 106 is included. (0022) Next, referring to FIG. 1, the configuration is as described above.
Of the obstacle removal work support device according to the present embodiment
The operation will be described. First, the position measuring means 102
Measure detailed location information of a point. Next, work execution judgment
When the means 103 determines that the work is being executed
(For example, if the grader is down or the rotary
When rotating, etc.), measured position information and work
The contents and the work locus recording means 104 are recorded. Work execution
The judging means 103 judges that the work is not being executed.
(For example, if the grader is
When Lee is stopped), the measured position information
Record that the work is “unworked” in the work trajectory recording means 104
To do. In this way, the work operation trajectory of the obstacle removal vehicle
Information is sequentially recorded in the work trajectory recording means 104. (0023) Next, referring to FIG.
An example of recording the obstacle removal work trajectory information will be described. Figure 2
In the example of recording the work trajectory shown in, the work position is recorded as a record item.
Measured time, latitude and longitude of work position, and work type
Another is recorded. Work track at 10:01:01
In the trace information, the measured position is latitude 38 degrees 30 minutes, longitude 14
Recorded that no obstacles were removed at 0 degrees 25 minutes
To be done. Work trajectory information at time 10:01:03
The measured position is latitude 38 degrees 32 minutes, longitude 140 degrees 2
7 minutes, work A is performed as the obstacle removal work
Is recorded. (0024) Next, referring to FIG.
An example of the configuration of the worked area information will be described. Dashed line in Figure 3
The shaded area surrounded by is the maximum area that constitutes the worked area 107.
It is a small unit. Where Tn is the trajectory information at time n.
Work track, Tn + 1 is work track that is position information at time n + 1.
Trace, W is the work width set by the work width input means
It That is, when the work vehicle having the work width W is Tn in the work execution state.
This is an example of the case where the data is moving from Tn + 1 to Tn + 1. (0025) The work area between two points on the work locus is a book
In the embodiment, it is divided into the following two areas. First one
As an eye region, a line segment connecting the work trajectories Tn and Tn + 1
The work area 107, which is a rectangular area having a width W as the center line, is
Ask. Next, the work locus Tn + 1 and the next work locus Tn +
As a joint area to make the joint part of 2 smooth,
A semi-circular area with a radius of W / 2 centered on the work trajectory Tn + 1
The work area joint 108 to be obtained is obtained. Connect these two areas
The combined area is defined as a work area between two points. here
And the work content of the work trajectory Tn is "unworked"
Does not consider the above two combined areas as a work area.
And Similarly, from the previous and following work tracks
Find the area. The work area calculated in this way is 1
It is expressed as 10. (0026) Next, referring to the flowchart shown in FIG.
Then, the calculation processing of the worked area information in the present embodiment
Will be described. First, step S100 (hereinafter,
(The letters of the step are omitted), the subscript (n) of the work locus
To initialize. Next, enter the value of the working width in S101.
Force Here, the value of the working width is input to the working width input means 105.
You can enter it in advance according to the type of work vehicle,
When using a replaceable grader, etc.
Enter the radar width. Enter if working width is fixed
May be omitted. In S102, unprocessed gauge
It is determined whether trace information exists. S if it exists
Proceed to 103, and if it does not exist, calculate the work area.
The output processing ends. In S103, the work trajectory Tn is the work
It is judged by the execution judging means 103 that the work is being executed.
If it is determined that the work has not been completed, the process proceeds to S104.
If it does, go to S107. In S104, the work trajectories Tn and T
A rectangular area A having a width W connecting n + 1 is calculated. Request here
The rectangular area A shown corresponds to the work area 107 in FIG.
It (0027) Next, the process proceeds to step S105, and the work trajectory
Calculate a semi-circular area with radius W / 2 centered on Tn + 1
It The semi-circular area obtained here is the work area joining in FIG.
It corresponds to the unit 108. Next, in step S106,
The rectangular area A obtained in S104 and the rectangular area A obtained in S105
The semicircle area B is added to the work area information. Then S
Proceed to 107 to calculate the removed area of the next section
One is added to the subscript n and the process returns to S102. Recorded work
Repeat the above process until the trajectory information is lost, and finally
Is the work area information 10 configured as shown in FIG.
9 will be obtained. Here, according to the actual work route
Between the recorded work trajectories to make the work area closer to
To perform a completion process by linear completion or spline completion
You may (0028) As described above, the first embodiment of the present invention
According to the work trajectory information obtained as a result of the obstacle removal work
Calculate information to determine the two-dimensional work area from
The operator's effort and save that information.
And as work support information that improves work efficiency
You can (0029) (Second Embodiment) Next, referring to FIG.
Structure of Obstacle Removal Work Support Device in Second Embodiment
Explain the success. Obstacle removal work support device 2 shown in FIG.
00 is the route or work area where the obstacle removal work is performed.
Map information storage means 207 in which the map information of the area is recorded
(The map information storage means 207 is a hard disk or a magnet.
Magnetic storage devices such as optical tapes and large-capacity light such as DVDs
Such as academic storage media and semiconductor memory such as IC cards.
The work trajectory recording means described in the first embodiment.
The same as 104), and the first implementation
Similar to the work trajectory recording means 104 described in the form, the work trajectory is
Work trajectory information and map information recorded in the trace recording means 404
Map information for reading the map information stored in the storage means 207
Report reading means 208 and map information reading means 208
Map information read by and the completed area calculation means
Correspondingly drawn the worked area calculated by 206
Worked area to be drawn on the display buffer such as image memory
The drawing means 209 and the drawing contents can be visually recognized by the work operator.
Display means 210 for informing the user that
It The display means 210 may be a cathode ray tube or a liquid crystal.
There is a monitor. In addition, in the second embodiment shown in FIG.
Of the components of the obstacle removal work support device 200 in
Each component with the end of the number being the same as the end of the code shown in FIG.
Since they are similar, detailed description will be omitted. (0030) Next, referring to FIG.
Obstacle removal work support device 2 according to the present embodiment
The operation of 00 will be described. First, the map information reading means 2
It is stored in the map information storage means 207 by 08.
Numerical terrain data and work trajectory record hand near the current position
The work trajectory information is read from the stage 204. Read out
Based on the work trajectory information, the work completed area calculation means 206
Calculate the work area information. Next work area drawing
The calculated work area information is displayed by the image means 209.
Draw on the buffer and display on the display means 210
More visually inform the work operator. (0031) Next, referring to FIG.
Explain the display example by the operation of the obstacle removal work support device
To do. In the display example shown in FIG. 6, the work area is an outdoor parking lot.
It is a display example in the case. Each symbol shown in FIG. 6 is a display screen
E200 showing the whole, and in the outdoor parking lot as a work area
E201 indicating the area and E20 indicating the entrance to the parking lot
2, E203 showing the road along the road, and obstacle removal work vehicle
E204 indicating both vehicle positions with own vehicle mark and completed
And E205 indicating a region. In Figure 6, parking lot area
Obstacles such as snow accumulated on the area E201
And the obstacle removal vehicle is moving
Remove. Set the vehicle position of this obstacle removal vehicle to E204
Displayed and calculated from the work trajectory recorded during this work
The removal area of the obstacle is drawn as indicated by E205. (0032) As described above, the second embodiment of the present invention
According to, the work completed area from the recorded work trajectory information
It can be displayed overlaid on the map,
Data is a two-dimensional work area or unwork area.
It is possible to visually notify the progress of the work that has been done.
For example, for site confirmation during work, obtain that information from the monitor.
By doing this, you can see the actual site, and
It is possible to easily recognize the two-dimensional work record situation.
Information that is useful for your work.
Wear. (0033) (Third Embodiment) Next, referring to FIG.
Structure of Obstacle Removal Work Support Device in Third Embodiment
Explain the success. Obstacle removal work support device 3 shown in FIG.
00 provides location information of points that do not need to be removed.
Work unnecessary area information providing means 311 (work unnecessary area information
311 is a place that is usually closed or a road heath
Already installed in the wing, drainage facility and other obstacle removal equipment.
Areas where there is no need to remove obstacles such as those installed
It is the position information of the area, and is the map information described in the second embodiment.
It is stored in the information storage means 207, or FM broadcast radio waves
, VICS, DSRC (Small area communication technology typified by ETC
Work)) and work)
Obstacle removal provided by unnecessary area information providing means 311
No work required to acquire location information for points that do not require work
Area information acquisition means 312 and work unnecessary area information acquisition means 3
The location information obtained from 12 is used as a place where work is unnecessary.
Unnecessary area display means 31 for displaying on the display means 310
3 and 3. In addition, the third embodiment shown in FIG.
Of the obstacle removal work support device 300 in the state
, Each of which has the same end as the reference numeral shown in FIG.
Since the elements are similar, detailed description will be omitted. (0034) Next, referring to FIG. 7, the configuration as described above is performed.
Of the obstacle removal work support device according to the present embodiment
The operation will be described. First, the work unnecessary area information acquisition unit 31
Provided by the work unnecessary area information providing means 311
Where the road is normally closed, road heating,
Drainage facilities and other obstacle removal equipment are already installed.
Location information for areas where there is no need to remove obstacles such as
Get the news. The acquired work unnecessary area information is displayed on the map.
Understand that no work is required at the corresponding position
The pattern is displayed on the display unit 310 by using a pattern, an icon, or the like.
Notify the business operator. (0035) Next, referring to FIG.
Explain the display example by the operation of the obstacle removal work support device
To do. In the display example shown in FIG. 8, the work area is an outdoor parking lot.
It is a display example in the case of. The symbols shown in FIG.
E306A to E306C indicating the work unnecessary area (for example,
There is a built-in heating system that does not require removal work.
Area E306A, tollgate E306B, and breaker facility
E306C). Other symbols have the end shown in Fig. 6.
Items that are the same as those at the end of the reference numerals are similar and will not be described
It This kind of display example shows the current
Notify the status of obstacle removal work. Similarly, no work required
As an area, irremovable obstacles that hinder work
At the point where objects, such as wheel stops and curbs are placed
The same operation is possible at the same time. (0036) As described above, the third embodiment of the present invention
According to the above, obstacle removal work support has already been performed on or near the road surface.
In locations where support equipment or other facilities are installed
Is a position where the obstacle removal work is unnecessary.
Therefore, unnecessary work can be avoided. (0037) (Fourth Embodiment) Next, referring to FIG.
Structure of Obstacle Removal Work Support Device in Fourth Embodiment
Explain the success. Obstacle removal work support device 4 shown in FIG.
00 is when the work area is limited to a certain area
In the work trajectory recording means described in the first embodiment
It is recorded in the work locus recording means 404 similar to 104.
Whether the work area is determined in advance from the work information
Calculate the unworked area to calculate the area that has not been worked yet
Work with the output means 411 and the calculated area information of the unworked area
An unworked area information notifying means 412 for notifying the operator
Have. In addition, a fourth embodiment of the present invention shown in FIG.
Of the obstacle removal work support device 400 in the state
, Each of which has the same end as the reference numeral shown in FIG.
Since the elements are similar, detailed description will be omitted. (0038) Next, with reference to FIG.
Of the obstacle removal work support device according to the present embodiment
The operation will be described. First, perform the obstacle removal work here
It is assumed that the work area has a limited range. This work
Information on the work area is stored in the map information storage means 507.
You can enter it manually or enter it manually in advance of the work.
However, a magnetic car that stores other work area data
May be used, or it may be
It may be set from (0039) Next, by the worked area calculation unit 406
Worked area information is obtained, and the unworked area calculation means 411
The area of the unworked area is calculated. Calculation of unworked area
First, find the area of the entire work area, and work from that area.
Not working by subtracting the area obtained from the completed area information
Area information of the area is obtained. Next, the unworked demanded there
The area information of the area is displayed on the display unit 410, or the voice is displayed.
Informs the work operator of the remaining work amount. (0040) Next, referring to FIG.
The obstacle removal work support device according to the present embodiment described above
A display example will be described. In Figure 10, the work area is an outdoor parking lot.
It is a display example in the case of. In the reference numerals in FIG. 10, work
The work progress notification information E406 indicating the progress is displayed on the level game.
It is shown in the display. In addition, the end of the code is the code shown in FIG.
The same parts as those at the end are the same, and the description thereof will be omitted. Work area
Of the working area E405 in the area (parking area) E401
The work progress is calculated as a percentage from the ratio, and the work progress is leveled.
It is displayed by the language E406. (0041) As described above, the fourth embodiment of the present invention
According to the work operator
Therefore, the work progress can be grasped quantitatively. Well
In addition, when the unworked area area is below a certain level
In that case, you may be notified that the work will be completed soon.
I can. (Fifth Embodiment) Next, referring to FIG. 11, the present invention will be described.
Of the obstacle removal work support device in the fifth embodiment of
The configuration will be described. Obstacle removal work support device shown in FIG.
The device 500 is a work area calculation method based on the entire work target area.
On the remaining area other than the worked area calculated in step 506
To guide obstacle removal work in the remaining area.
A work guidance route calculation means 511 for calculating a guidance route
Invite a work operator along the work guide route calculated earlier
And a work route guiding means 512 for guiding. Work route invitation
As the guiding means 512, a map displayed on the displaying means 510
It is displayed on the screen or is notified to the operator by voice.
There is a means to do so. In addition, a fifth embodiment shown in FIG.
Of the obstacle removal work support device 500 in the state
, Each of which has the same end as the reference numeral shown in FIG.
Since the elements are similar, detailed description will be omitted. (0043) Next, referring to FIG. 11, the configuration is performed as described above.
Obstacle removal work support device according to the present embodiment
The outline of the operation of will be described. First, the work trajectory recording means 50
From the work trajectory information recorded in 4, the work completed area calculation
Step 506 determines the worked area. Next, work invitation
From the whole work target area by the guide route calculation means 511,
Described in the previously calculated work area and the third embodiment.
Smell in the remaining area after subtracting the sticky work-free area
The current position of the work vehicle as a starting point
Clearly removes obstacles on the remaining work area in consideration of work width
A travel route that can be used is calculated. Where the product
The work end point is determined by the work guidance route calculation means 511.
It may be obtained from the calculation result obtained from the
The travel route may be calculated after the determination. Next, arithmetic
To proceed along the work operation route along the issued work route
Therefore, using the work route guiding means 512, the work operator
The work direction and the direction change position
Guide the route. (0044) Next, referring to FIG.
The obstacle removal work support device according to the present embodiment described above
A display example of the route guidance screen will be described. Each element shown in FIG.
Is the E500 showing the entire display screen and the outdoor parking area
E501 showing the Mari work area and the entrance to the parking lot
E502, E502 showing the road outside the parking lot, and work vehicle
E504 indicating the current position of both and E indicating the worked area
505, E506 indicating a work unnecessary area, and work guidance
E507 showing the road and E508 showing the work ending point,
And E509 indicating a turning position. (0045) Next, referring to FIG. 12, the above route guidance
Explain the example of obstacle removal work while looking at the display example on the screen
It Here, it becomes an obstacle to the entire outdoor parking lot E501.
Suppose there is snow accumulation. First, the state of FIG.
As for the state, the area of E505 has already been worked,
The vehicle is located at E504. Work guidance here
The route calculation means 511 removes the work unnecessary area E506.
The work guidance route E507 in the remaining area is calculated.
The work vehicle is on the work guide route E507 calculated previously.
Is guided by the work route guiding means 512. here
The turning position E509 is shown at this point.
When it arrives, it will prompt you to change direction. here
Then, it is possible to rotate around the own vehicle position such as a caterpillar car
An example is a different work vehicle, but an inner ring difference will occur when turning.
Including those that guide when considering such a vehicle
Shall be provided. In this way, the work vehicle is guided to work.
Move on route E507 and reach work end point E508
The work ends when it reaches. (0046) As described above, the fifth embodiment of the present invention
According to the above, the work recorded in the work trajectory recording unit 504 is recorded.
Obstacles that exist on unworked areas excluding the already worked points
Efficient and reliable by guiding the work route to remove
It is possible to support actual obstacle removal work. (0047) (Sixth Embodiment) Next, referring to FIG.
Of the obstacle removal work support device in the sixth embodiment of
The configuration will be described. An obstacle removing work support device shown in FIG.
The device 600 is a device for acquiring work movement speed information of the work vehicle.
Work movement speed information acquisition means (work movement speed information acquisition means 6
A vehicle speed pulse sensor can be used as 11,
Or it can be obtained from the distance traveled in a certain time.
611, work scheduled area and worked area calculating means
Calculate the unworked area from the worked area calculated in 606
The unworked area calculation means 612 to be output and the unworked area calculation hand
Unworked area information and speed information acquirer calculated from the step 612
Such as the work movement speed information of the work vehicle acquired from the step 611
End the work to predict the work end time in the remaining area
Time prediction means 613 and the predicted work end predicted time
A work end time external notification means 614 to be transmitted to the department.
It Other than the obstacles in the sixth embodiment shown in FIG.
The end of the reference numeral of the components of the harmful substance removal work support device 600
5 are the same as those at the end of the reference numerals shown in FIG.
Therefore, detailed description is omitted. (0048) Next, referring to FIG.
Obstacle removal work support device according to the present embodiment
The operation of will be described. First, perform the obstacle removal work here.
The working area has a finite range. this
The work area information is stored in the map information storage means 607.
Can be entered, or can be entered manually before work
However, other magnetic fields that store work area data
May be used, or it may be
It may be set from. Next, the worked area calculation means 60
The unworked area calculation means for obtaining the worked area information from 6
From 612, the area of the unworked area is calculated. Unworked area
To calculate the area, first find the area of the entire work area, and then
By subtracting the area obtained from the work area information previously
Therefore, the area information of the unworked area can be obtained. Next, I asked
The work area is acquired by the work movement speed information acquisition unit 611.
When the removal work is performed at the specified work movement speed, the work end
The completion time is predicted by the work completion time prediction means 613.
Next, the work completion time was predicted by the external notification means 614.
The scheduled work end time can be communicated to external users by wireless means.
Or, it will be notified by a guide board. (0049) As described above, the sixth embodiment of the present invention
According to the report, the work end predicted from the work record on the work vehicle side is
Schedule the completion time to external users who use the work area
It can be notified. (0050) (Seventh Embodiment) Next, referring to FIG.
Of the obstacle removal work support device in the seventh embodiment of
The configuration will be described. An obstacle removal work support device shown in FIG.
In the storage 700, a vehicle or the like that originally uses the work target area is stopped.
Area information that stores multiple pieces of area information for
A storage unit 711 and a work completion determination area for each section information
Installed and determined that the removal work on the area for each section was completed.
The partition area work end determination means 712 to be defined and the partition area operation
The work end determination means 712 indicates that the corresponding section is the end of work.
Each time it is judged
Use of already-worked compartments to notify outside users of usage information
The information notification means 713 is included. Others shown in FIG.
Obstacle removal work support device 70 in the seventh embodiment
The end of the code of the component of 0 is the end of the code shown in FIG.
Since the same components as in
Omit it. (0051) Next, referring to FIG. 14 to FIG.
Obstacle removal in the present embodiment configured as described above
The operation of the work support device will be described. First, as a work area
Is an outdoor parking lot, work at each parking stop position
The area information is previously stored in the partitioned area information storage means 711.
Pay. The partitioned area information is shown in the example of FIG.
Position number of each parking space, upper left of parking area
Absolute coordinates of each stop space with each as the origin, each stop
Information such as space width and height is stored. Next
The track information of the point where the obstacle removal work was performed
Recorded in the trace recording means 704, and recorded in the work trajectory recording means 704.
Worked area calculation means 7 based on the recorded work trajectory information.
The work area is calculated from 06. Worked area is
Displayed by the worked area drawing means 709
710 is displayed. Next, calculated work area information
From the partition area information storage means 711.
Has the removal work of obstacles on the partitioned area been completed?
Whether or not it is judged by the partitioned area work end judging means 712
It (0052) Referring to the flowchart of FIG.
Then, the judgment processing hand by the partition area work end judging means 712
An example of the order will be described. First, in S700,
The partition number i to be specified is designated as 1. Next, in S701
Uses the work trajectory information recorded in the work trajectory recording means 704.
Then, the worked area is calculated. Next, in S702,
From the image area information recording means 711, the judgment area information of the section i is obtained.
The acquired divided area Di is calculated. Next
Further, in S703, the partitioned area Di is calculated in S701.
It is determined whether the work area is included. Contained
If it is determined that the content is not included, the processing proceeds to step S704.
If it is determined to be No, the process proceeds to S705. In S704,
It is determined that the judgment target section i is included in the worked area.
Therefore, the section i is notified to the outside as an available section.
It In S705, all determinations included in the partitioned area information
It is determined whether the determination of the target section is completed. Judgment target
If there is a parcel, specify the next parcel number to be judged
The process proceeds to S702, and the determination of all determination target sections is completed.
If so, this determination process ends. (0053) Next, referring to FIG.
The obstacle removal work support device according to the present embodiment described above
A specific display example of the route guidance screen will be described. Shown in Figure 17
Each element is E700, which shows the entire display screen, and the entire parking lot.
E701 indicating the body or work area and the entrance to the parking lot
Showing E702 and E70 showing the road adjacent to the parking lot
3 and E704 indicating the current position of the work vehicle, and work completed
E705 showing the area and E706 showing the stop space
(A) to (J) and E7 showing the approach to the parking space
07 and information about available parking spaces is sent to the outside
E708 showing the transmitting device and guidance for displaying parking lot information
Install E709, which shows a board, and an in-vehicle information terminal such as a car navigation system.
E710 which shows the mounted general vehicle. (0054) FIG. 17 shows the embodiment of the present invention described above.
See the route guidance screen of the obstacle removal work support device
In light of this, obstacles such as snow in the parking area E701
Objects are deposited by the movement of work vehicle E704.
Remove obstacles. In FIG. 17, the approach route E707 is confirmed.
The area of E705 has been removed and the removal work has already been completed.
And In this case, the available parking spaces are:
E706 (A) to (C) are present. Other parking spaces
Sources E706 (D) to (J) are in an unworked state. Use
Information on available parking spaces E706 (A)-(C)
The information is transmitted from the external transmission antenna E708, and the parking lot
Guide signboard E709 and in-vehicle terminal that can receive external information
For general use vehicle E710 that is installed and uses the parking lot
To send. (0055) As described above, the seventh embodiment of the present invention
According to, the availability of each division of the usage area in which work is performed
Can be notified to the user, so outdoor parking
Users until all work in all areas of the field is completed
Does not need to wait, and is a useless waiting time for the user
It is possible to reduce the time required and the profit margin is high for parking operators.
Car parking can be managed. (0056) (Eighth Embodiment) Next, referring to FIG.
Of the obstacle removal work support device in the eighth embodiment of
The configuration will be described. An obstacle removal work support device shown in FIG.
The device 800 is a work area provided by an external information provider.
Climate information inside and outside the region (current weather, current temperature, temperature change)
Climate information acquisition means 811 for acquiring the weather forecast)
Using the acquired climate information, snowfall and
Obstacles for estimating the amount of occurrence of obstacles such as rainfall
Hazardous substance generation amount prediction means 812 and estimated snow accumulation amount are reworked
Rework judgment to determine whether or not the required level has been exceeded
Is generated again by the fixing means 813 and the rework judging means 813.
If the obstacle is determined to require work again,
Worked locus information recorded in work locus recording means 804
Is updated as a “non-working” state.
14 and rework point notification to notify the point where rework is required
And means 815. In addition, the eighth fruit shown in FIG.
Configuration of Obstacle Removal Work Support Device 800 in Embodiment
Each of the elements whose end of the code is the same as the end of the code shown in FIG.
Since the constituent elements are the same, detailed description will be omitted. (0057) Next, referring to FIG.
Obstacle removal work support device according to the present embodiment
The operation of will be described. First, the climate information acquisition means 811
Get weather information provided by an external weather forecasting agency
To do. Next, it is recorded in the work trajectory recording means as a completed work point.
The time when the work information was recorded is set to the recorded point.
As a point, the amount of obstacles generated based on the weather information previously acquired
The prediction means 812 estimates the amount of snowfall accumulated up to the present.
Set. An example of the prediction method of the obstacle generation amount prediction means 812
As for the work that was recorded as completed 2 hours ago
The amount of snowfall per hour is 5 cm at the completed point
If the weather information of
It is estimated that the present snow cover is 10 cm. Then rework
The amount of snow previously estimated by the determination means 813 requires rework.
If it is determined that the required level has been exceeded,
Worked track information recorded in the work track recording unit 804
Is set to “unworked state” by the work record updating means 814.
To update. In this way, it was determined that the work was not performed.
At the point, the fact that a point requiring rework occurred
The work point notification means 815 is provided to the work operator.
And display point information that rework is necessary,
Illustration of the relevant point on the map or notification by voice
It (0058) Here, referring to FIG. 19, the eighth embodiment
An example of updating the work trajectory information in the form will be described.
19A shows the work trajectory information before updating, and FIG.
(B) shows the updated work trajectory information. FIG. 19 (A)
Referring to the work trajectory record of 10: 01: 03-1
At the point of 0:01:06, perform the work of "work A".
It has been recorded that Outside weather information here
From near the position where the work record was recorded due to stormy weather.
If such occurrence is predicted, the predicted value
The need for rework at the point
If it is predicted that the amount of snow will occur
It records that the work was done as shown in FIG.
The contents of “Work A” are in the state of not working
Change to “work” and record. Work track updated in this way
Trace recording is performed in each embodiment of the present invention described above.
It is used as a work track record. (0059) As described above, the eighth embodiment of the present invention
According to the survey, the
If an obstacle occurs again due to stormy weather, etc.
You can update to the latest state. (0060) Here, the first to eighth fruits described above
In the embodiment, snowfall is a target for obstacle removal work.
The snow accumulated on the road is the obstacle to be removed.
The snow removal vehicle that removes snow from
As well as snow, freezing, gravel, floods, floating
Various types of road surface traffic such as drift ice, sea traffic, and air traffic
Removal of all obstacles that make it difficult for moving objects to pass
The same work can be performed. (0061)

The obstacle removal work support apparatus according to the present invention is configured as described above, and particularly uses the obstacle removal work width of the work vehicle and the work progress route information measured by the highly accurate positioning means. Thus, the work record of the obstacle removal work can be calculated as a two-dimensional removal work completed area from the one-dimensional work trajectory information and provided as work support information. Further, since the recorded work trajectory information can be transmitted to the outside, it is possible to provide each user with information useful for the user who uses the work target area. Also,
By providing the recorded work trajectory information as work support information that corresponds to the progress of work and external changes for the work to be continued by itself, the work operator's labor can be reduced and work support can be significantly improved. it can.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of an obstacle removal work support device according to a first embodiment of the present invention,

FIG. 2 is a diagram showing an example of recording trajectory information by the obstacle removal work support device shown in FIG.

3 is a diagram showing a configuration example of work completed area information by the obstacle removal work support device shown in FIG.

FIG. 4 is a flow chart showing a procedure for calculating work area information by the obstacle removal work support apparatus shown in FIG.

FIG. 5 is a block diagram showing a configuration of an obstacle removal work support device according to a second embodiment of the present invention,

6 is a diagram showing a display example of a display device in the obstacle removal work support device shown in FIG. 5;

FIG. 7 is a block diagram showing a configuration of an obstacle removal work support device according to a third embodiment of the present invention,

8 is a diagram showing a display example of a display device in the obstacle removal work support device shown in FIG. 7,

FIG. 9 is a block diagram showing the structure of an obstacle removal work support device according to a fourth embodiment of the present invention;

FIG. 10 is a diagram showing a display example of a display device in the obstacle removal work support device shown in FIG. 9;

FIG. 11 is a block diagram showing a configuration of an obstacle removal work support device according to a fifth embodiment of the present invention,

12 is a diagram showing a display example of a display device in the obstacle removal work support device shown in FIG.

FIG. 13 is a block diagram showing the configuration of an obstacle removal work support device according to a sixth embodiment of the present invention;

FIG. 14 is a block diagram showing the configuration of an obstacle removal work support device according to a seventh embodiment of the present invention;

FIG. 15 is a diagram showing an example of partitioned area information by the obstacle removal work support device shown in FIG. 14;

16 is a flowchart showing the operation of a partitioned area work determination processing procedure by the obstacle removal work support device shown in FIG.

FIG. 17 is a diagram showing a more specific display example of the display device in the obstacle removal work support device shown in FIG. 14;

FIG. 18 is a block diagram showing a configuration of an obstacle removal work support device according to an eighth embodiment of the present invention,

FIG. 19 is a diagram showing an example of updating work trajectory information by the obstacle removal work support device shown in FIG. 18;

FIG. 20 is a view showing a conventional snow removal work management system,

FIG. 21 is a view showing a display example of a conventional traveling locus,

[Explanation of symbols]

100, 200, 300, 400 Obstacle removal work support device 500, 600, 700, 800 Obstacle removal work support device 101, 201, 301, 401 Control means 501, 601, 701, 801 Control means 102, 202, 302, 402 position measuring means 502, 602, 702, 802 position measuring means 103, 203, 303, 403 work execution determining means 503, 603, 703, 803 work execution determining means 104, 204, 304, 404 work trajectory recording means 104, 604 , 704, 804 Work locus recording means 105, 205, 305, 405 Removal width input means 505, 605, 705, 805 Removal width input means 106, 206, 306, 406 Removal area calculation means 506, 606, 706, 806 Removal area Calculating means 107 Composes an already-worked area Small unit 108 Semicircular joining area 109 Worked area information 110 Worked area 207 Map information storage means 208 Map information reading means 209 Worked area drawing means 307, 407, 507, 607, 707, 807 Map information storage means 308 , 408, 508, 608, 708, 808 Map information reading means 309, 409, 509, 609, 709, 809 Worked area drawing means 210, 310, 410, 510, 610, 710, 8
10 display means 311 work unnecessary area information providing means 312 work unnecessary area information acquisition means 313 work unnecessary area display means 411, 612 unworked area calculation means 412 unworked area information notification means 511 work guidance route calculation means 512 work route guidance means 611 Work movement speed information acquisition means 613 Work end time prediction means 614 Work end time external notification means 711 Partition area information storage means 712 Partition area work end determination means 713 Partition usage information notification means 811 Climate information acquisition means 812 Obstacle occurrence amount prediction means 813 Rework determination means 814 Work record update means 815 Rework point notification means 10000 Work vehicle 10001 Work command 10002 GPS satellite 10003 Work control means 10004 Positioning means 10005 Wireless communication means on the work vehicle side 10006 Work line information left Stage 10007 working Command 10008 working headquarters side wireless communication unit 10009 work support information generating unit 10010 work vehicle management unit 10011 work management information recording means 10012 working operation information recording unit

Claims (8)

[Claims] 1. A position measuring means for measuring the current position of a work vehicle, a work locus recording means for recording the measured position information of the work vehicle as work locus information, a recorded work locus and an obstacle of the work vehicle. An obstacle removal work support device comprising: a work area calculation unit that calculates a two-dimensional work area from a work width for removing an object. 2. A map information storage means for recording map information of a route or a work area where an obstacle is removed by the work vehicle, a map information reading means for reading the map information from the map information storage means, and a read operation. A worked area drawing means for drawing a worked area on the topographic map from the recorded map information and the previously recorded work trajectory information; and a display means for notifying the worked area drawn by the worked area drawing means. The obstacle removal work support device according to claim 1, further comprising: 3. A work unnecessary area information providing means for providing position information of a point where the obstacle removing operation is not necessary, and a position of the point where the obstacle removing work is not necessary provided from the work unnecessary area information providing means. 3. The obstacle according to claim 2, further comprising work unnecessary area information acquiring means for acquiring information, and work unnecessary area display means for notifying the position information acquired from the work unnecessary area information acquiring means as a work unnecessary place. Object removal work support device. 4. In a limited work area,
A work locus recorded in the work locus recording means is used as a work area, and a non-work area calculation means for calculating the remaining non-work area from the work area, and a non-work area information notification for notifying the calculated non-work area information 3. The obstacle removal work support device according to claim 2, further comprising: 5. A work guidance route calculation means for calculating a work course that goes around an unworked area recorded in the work trajectory recording means, and a work route guidance means for guiding the work vehicle along the calculated work route. The obstacle removal work support device according to claim 2, further comprising: 6. A non-working area for calculating a non-working area from a work moving speed information acquiring means for acquiring work moving speed information of the work vehicle, a work scheduled area and a worked area calculated by the worked area calculating means. A work end time for predicting a work end time by the remaining area from the area calculation means, the non-work area information calculated by the non-work area calculation means, and the work movement speed information of the work vehicle acquired by the speed information acquisition means The obstacle removal work support device according to claim 1 or 2, further comprising: a prediction unit and a work end time external notification unit that externally transmits the predicted work end predicted time. 7. A partition area information storage unit for storing a plurality of partition area information for a vehicle that originally uses a work target area and a work completion determination area for each of the partition areas, and a failure for each partition area. The partition area work end judging means for judging that the removal work of the object is completed, and the usage information of the partition which has become available each time the corresponding partition is judged as the work completion by the partition area work end judging means. The obstacle removal work support apparatus according to claim 1 or 2, further comprising: a worked section utilization information notifying unit that notifies the work. 8. Meteorological information acquisition means for acquiring meteorological information in the vicinity of a work area from an information provider, and obstacles for estimating the amount of obstacles that will reoccur due to snowfall or rainfall at a worked location from the acquired meteorological information. Generation amount prediction means, rework determination means for determining whether or not the estimated snow amount exceeds a level requiring rework, and an obstacle regenerated by the rework determination means requires removal work again. If it is determined that the work trajectory information recorded in the work trajectory recording means is updated to a "non-working state", a work record updating means, and a rework notifying means for notifying that rework is necessary. The obstacle removal work support device according to any one of claims 1 to 7, wherein: